CN116255904B - Automatic measuring method and system for concrete volume of tunnel hole wall spraying by mine method - Google Patents
Automatic measuring method and system for concrete volume of tunnel hole wall spraying by mine method Download PDFInfo
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- CN116255904B CN116255904B CN202310170134.7A CN202310170134A CN116255904B CN 116255904 B CN116255904 B CN 116255904B CN 202310170134 A CN202310170134 A CN 202310170134A CN 116255904 B CN116255904 B CN 116255904B
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- 238000000034 method Methods 0.000 title claims description 33
- 239000004567 concrete Substances 0.000 title claims description 20
- 238000005507 spraying Methods 0.000 title description 11
- 239000011378 shotcrete Substances 0.000 claims abstract description 130
- 238000005259 measurement Methods 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 10
- 238000009412 basement excavation Methods 0.000 claims description 23
- 238000005065 mining Methods 0.000 claims description 18
- 238000009825 accumulation Methods 0.000 claims description 7
- 238000013461 design Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 claims description 4
- 241001640558 Cotoneaster horizontalis Species 0.000 claims 5
- 238000010276 construction Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 206010057175 Mass conditions Diseases 0.000 description 1
- 239000013590 bulk material Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/28—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring areas
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The automatic measurement system comprises a tunnel three-dimensional information acquisition module, a position information acquisition module and a data processing module, wherein the tunnel three-dimensional information acquisition module acquires three-dimensional coordinate information of the surfaces of a tunnel and sprayed concrete and a movement track, the position information acquisition module acquires first position information of an infrared range finder and also acquires second position information of a plurality of points on the surfaces of the walls of the tunnel, and the data processing module determines third position information of the plurality of points on the surfaces of the sprayed concrete; therefore, the invention calculates the area of each section of the sprayed concrete by acquiring the position information of the tunnel wall and the plurality of points on each section of the surface of the sprayed concrete, and combines the moving distance of the infrared range finder on the motion track to obtain the volume consumption of the sprayed concrete, thereby effectively solving the problem that the volume consumption of the sprayed concrete on the surface of the uneven tunnel wall cannot be accurately acquired.
Description
Technical Field
The invention relates to the technical field of concrete spraying construction in tunnel walls, in particular to a method and a system for automatically measuring the volume of concrete sprayed on tunnel walls by a mining method.
Background
After the tunnel is excavated by the mine method, a supporting structure is needed to be applied in order to restrain and control surrounding rock deformation and strengthen surrounding rock stability. Both composite lining structures and single-layer lining structures require shotcrete construction. Currently, the volume of shotcrete required for each tunnel excavation step is estimated based on worker experience. Due to factors such as rock mass conditions, construction process and the like, flatness of the tunnel wall is often poor after tunnel excavation, and a large number of pits exist, so that the estimated usage amount of sprayed concrete is greatly different from the actual usage amount. The sprayed concrete dosage is estimated to be too little, the sprayed concrete thickness of the tunnel wall does not reach the standard, and the safety of the tunnel structure cannot be ensured; the amount of sprayed concrete is estimated excessively, so that the sprayed concrete is wasted, and the cleaning difficulty of the spraying mixer is increased.
Therefore, the designer of the invention has the advantages that by means of intensive research and design and comprehensive experience and achievement of related industries, the automatic measuring method and system for the concrete volume sprayed on the tunnel wall by the mining method are researched and designed, and the problem that the concrete volume sprayed on the surface of the rugged tunnel wall cannot be accurately obtained can be effectively solved.
Disclosure of Invention
The invention aims to provide an automatic measuring method and system for the sprayed concrete volume of a tunnel wall by a mining method, which can effectively solve the problem that the sprayed concrete volume of the tunnel wall cannot be accurately obtained.
In order to achieve the above purpose, the invention discloses an automatic measuring system for the concrete volume of the wall spraying of a tunnel by a mining method, which comprises a tunnel three-dimensional information acquisition module, a position information acquisition module and a data processing module, and is characterized in that:
the tunnel three-dimensional information acquisition module acquires three-dimensional coordinate information of a tunnel, a sprayed concrete surface and a movement track, the position information acquisition module acquires first position information of an infrared range finder and also acquires second position information of a plurality of points on the tunnel wall surface, and the data processing module determines third position information of the plurality of points on the sprayed concrete surface so as to acquire the distance between every two corresponding points formed by each beam in each section in the plurality of sections of sprayed concrete according to the second position information and the third position information; and then a plurality of quadrangles are drawn according to the distance between every two corresponding points one by one, and the area of all quadrangles in each section is calculated, so that the area of each section of sprayed concrete is obtained through accumulation.
Wherein: the three-dimensional coordinate information of the tunnel is obtained through measurement by using measuring equipment such as a total station or a three-dimensional scanner, the measuring equipment is placed on a central line point or a control point of the tunnel, a tunnel cross-sectional diagram is obtained after measurement and calculation, and the three-dimensional coordinate information of the inner surface of the primary support, namely the three-dimensional coordinate information of the sprayed concrete surface, is obtained.
Wherein: the infrared range finder is arranged on a mechanical arm of the shotcrete machine, the mechanical arm moves along a movement track and an excavation track, the movement distance can be set to be a fixed value or adjusted according to the flatness of the tunnel wall, the movement track is positioned at the inner side of the surface of the shotcrete, and the movement track is positioned in the same tunnel section; the excavation track is parallel to the tunnel axis.
Wherein: the infrared range finder emits scattered beam clusters, each beam cluster consists of a plurality of beams positioned on the same section, each adjacent beam has an interval angle, the outermost beam has an included angle with the horizontal direction, and the beam clusters penetrate through the surface of the sprayed concrete and are shot to the surface of the tunnel hole wall; each beam respectively forms a plurality of points corresponding to the sprayed concrete surface and the tunnel hole wall surface one by one, the plurality of points are all positioned in the same section, the infrared range finder moves for one circle along the movement track to form a plurality of sections in the circumferential direction, and the infrared range finder moves along the excavation track to form a plurality of sections in the longitudinal direction.
Wherein: the first position information is determined through three-dimensional coordinate information of the motion trail; the second position information is obtained by measuring the distance from the infrared range finder to a plurality of points on the surface of the tunnel wall along the beam cluster path; the third position information is calculated according to three-dimensional coordinate information of a plurality of points in the same section on the sprayed concrete surface and the first position information of the infrared range finder.
Wherein: the two sides of the quadrangle are line segments obtained by making perpendicular lines from the intersection point of the light beam a, the other light beam b and the wall surface of the tunnel hole to the sprayed concrete surface, the line segments are parallel to each other, the length of the line segments is obtained through the distance between every two corresponding points and the angle of the light beam, the distance between the line segments is obtained through third position information calculation, the volume of sprayed concrete between the adjacent sections is calculated according to the area of each section of sprayed concrete and the distance between the adjacent sections, and the volume consumption of sprayed concrete of the tunnel excavation step distance is calculated in a summation mode.
Wherein: the three-dimensional coordinate information of the tunnel obtained by measurement by the total station, the three-dimensional scanner and other equipment is (X) i Yi, zi), wherein X, Y, Z is the horizontal direction, the vertical direction and the axial direction of the tunnel section, respectively, and the three-dimensional coordinate information (X) of each point on the sprayed concrete surface is obtained in combination with the tunnel section design drawing si ,Y si ,Z si ) Obtaining three-dimensional information coordinates (X) of each point on the motion trail according to the vertical distance from each point on the motion trail to the sprayed concrete surface ri ,Y ri ,Z ri ) The mechanical arm drives the infrared distance meter to move along the motion trail to determine three-dimensional information coordinate information (X) of the infrared distance meter hi ,Y hi ,Z hi )。
Wherein: for the same section shot by the infrared range finder, defining the distance from each point on the motion track to the sprayed concrete surface as b, wherein b is a preset fixed value; beam a and another beam b are the ith and (i+1) th beams starting from the outermost side, i e [0, n]N is the number of light beams, and the intersection points of the light beams and the sprayed concrete surface are B and D, and the intersection points of the light beams and the tunnel hole wall surface are A and C; the distance between the infrared distance measuring instrument and the point B and the point D of the sprayed concrete surface is a respectively i And a i+1 The method comprises the steps of carrying out a first treatment on the surface of the The distance between the infrared distance meter and the points A and C on the surface of the tunnel wall is C respectively i And c i+1 The distance is obtained by direct measurement; and the included angle between the outermost beam of the infrared range finder and the horizontal direction is alpha, and the included angle between the adjacent beams is gamma, so that the included angles between the beam a and the beam b and the horizontal direction are alpha+gamma x i and alpha+gamma x (i+1) respectively.
Wherein: the beam a, the other beam B, the sprayed concrete surface and the tunnel wall surface enclose a quadrilateral ACDB which is approximately equal to the quadrilateral ACD 'B', and the length of a line segment AB is defined as s i Line segment CD length s i+1 The length of the line segment AB' is s i 'CD' length s i+1 The distance between line segment AB 'and CD' ish i '；
The parameters can be determined by the following equations 1-7:
a i ＝b/sin(α+γ×i)， (1
a i+1 ＝b/sin[α+γ×(i+1)]； (2
s i ＝c i -a i ＝c i -b/sin(α+γ×i)， (3
s i+1 ＝c i+1 -a i+1 ＝c i+1 -b/sin[α+γ×(i+1)]； (4
s i '＝s i ×sin(α+γ×i)＝c i ×sin(α+γ×i)-b/sin(α+γ×i) 2 ， (5
s i+1 '＝s i+1 ×sin[α+γ×(i+1)]＝c i+1 ×sin[α+γ×(i+1)]-b/sin[α+γ×(i+1)] 2 ；(6
h i '＝c i+1 ×cos[α+γ×(i+1)]-c i ×sin(α+γ×i)；(7
the area of the quadrilateral ACD 'B' is S k '＝(s i '+s i+1 ')×h i ' 2, area S of the cross section k ＝Σ[(s i '+s i+1 ')×h i '/2]The infrared rangefinder moves along the motion trajectory from point E (X k ,Y k ,Z k ) Move to point F (X k+1 ,Y k+1 ,Z k+1 ) Shooting to obtain multiple sections with a circular moving distance d k ，k∈[0,m]The motion trail is on the same tunnel section, Z k ＝Z k+1 ThenThe volume of the sprayed concrete in this section is v=Σ (S k ×d k )。
The method for measuring the volume and the dosage of the sprayed concrete on the tunnel wall by the mining method is characterized by comprising the following steps of:
s1) acquiring three-dimensional coordinate information of a tunnel, a sprayed concrete surface and a motion trail;
s2) acquiring first position information of an infrared range finder, wherein the infrared range finder moves along a motion track;
s3) obtaining second position information of a plurality of points on the surface of the tunnel hole wall, wherein the plurality of points are points on the intersection line of the beam clusters and the surface of the tunnel hole wall and are positioned in the same section;
s4) calculating third position information of a plurality of points on the sprayed concrete surface, wherein the plurality of points are points on the intersection line of the beam clusters and the sprayed concrete surface and are positioned in the same section;
s5) obtaining the distance between every two one-to-one corresponding points formed by each beam in each section of the plurality of sections of sprayed concrete according to the second position information and the third position information;
s6) a plurality of quadrangles are drawn according to the distance between every two corresponding points, the area of all quadrangles in each section is calculated, and the area of each section of sprayed concrete is obtained through accumulation;
s7) calculating the volume of the sprayed concrete between the adjacent sections according to the area of each section of the sprayed concrete and the distance between the adjacent sections, and summing the volume of the sprayed concrete for calculating the tunnel excavation step.
From the above, the automatic measuring method and system for the concrete volume of the tunnel hole wall spraying by the mining method have the following effects:
1. according to the method, the area of each section of the sprayed concrete is calculated by acquiring the position information of the tunnel wall and the plurality of points on each section of the surface of the sprayed concrete, and the volume consumption of the sprayed concrete is obtained by combining the moving distance of the infrared range finder on the motion track, so that the problem that the volume consumption of the sprayed concrete on the surface of the rugged tunnel wall can not be accurately acquired can be effectively solved.
2. The invention can also be suitable for measuring the bulk material volume on the surface of any rugged object, and has wider and more reliable application and better practicability.
The details of the present invention can be found in the following description and the accompanying drawings.
Drawings
FIG. 1 shows a schematic flow chart of the system for measuring the volume of sprayed concrete on the tunnel wall by the mining method.
FIG. 2 shows a three-dimensional schematic diagram of a tunnel in an application scenario of the method for measuring the volume and the dosage of sprayed concrete on the tunnel wall by the mining method.
Figure 3 shows a schematic cross-sectional view of the tunnel in the direction A-A of figure 1.
Fig. 4 shows a single schematic cross-section taken by an infrared rangefinder.
Figure 5 shows a plurality of circumferential cross-sectional views taken by an infrared rangefinder.
Fig. 6 shows a plurality of schematic longitudinal cross-sectional views taken by an infrared rangefinder.
Fig. 7 shows an enlarged view of a portion of the detail of fig. 4.
FIG. 8 shows a schematic flow chart of the method for measuring the volume and the dosage of the sprayed concrete on the tunnel wall by the mining method.
Reference numerals:
10-tunneling; 11-tunnel wall; 12-spraying the concrete surface; 13, a motion track; 14-spraying concrete; 15-spraying concrete machine; 16-a mechanical arm; 17-excavating tracks; 20-an infrared range finder; 21-beam cluster; 22-beam a; 23-beam b.
Detailed Description
Referring to fig. 1, an automatic measuring system for the concrete volume of the wall spraying of a tunnel hole by the mining method is shown.
The automatic measuring system for the concrete volume of the tunnel hole wall spraying by the mining method comprises a tunnel three-dimensional information acquisition module 110, a position information acquisition module 120 and a data processing module 130, wherein the tunnel three-dimensional information acquisition module 110 can acquire three-dimensional coordinate information of a tunnel 10, a sprayed concrete surface 12 and a movement track 13. The location information acquisition module 120 is configured to acquire first location information of the infrared rangefinder 20 and also to acquire second location information of a plurality of points of the tunnel wall surface 12. The data processing module 130 is configured to determine third position information of a plurality of points on the sprayed concrete surface 12, so as to obtain a distance between every two one-to-one corresponding points formed by each beam in each of a plurality of sections of the sprayed concrete 14 according to the second position information and the third position information; and then a plurality of quadrangles are drawn according to the distance between every two corresponding points one by one, and the area of all quadrangles in each section is calculated, so that the area of each section of sprayed concrete is obtained through accumulation.
Therefore, the tunnel three-dimensional information acquisition module is used for acquiring three-dimensional coordinate information of the tunnel, the sprayed concrete surface and the motion trail; the position information acquisition module is used for acquiring first position information of the infrared range finder, and the infrared range finder moves along the movement track; the second position information is used for acquiring a plurality of points on the surface of the tunnel hole wall, wherein the plurality of points are points on the intersection line of the beam clusters and the surface of the tunnel hole wall and are positioned in the same section; the data processing module is used for calculating third position information of a plurality of points on the sprayed concrete surface, wherein the plurality of points are points on the intersection line of the beam clusters and the sprayed concrete surface and are positioned in the same section; and obtaining the distance between every two one-to-one corresponding points formed by each beam in each section of the plurality of sections of sprayed concrete according to the second position information and the third position information; and a plurality of quadrangles are drawn according to the distance between every two corresponding points, the area of all quadrangles in each section is calculated, and the area of each section of sprayed concrete is obtained through accumulation; and calculating the volume of the sprayed concrete between the adjacent sections according to the area of each section of the sprayed concrete and the distance between the adjacent sections, and summing the volume of the sprayed concrete for calculating the tunnel excavation step.
Specifically, as shown in fig. 2 and 3, the three-dimensional coordinate information of the tunnel 10 may be measured by a measuring device such as a total station or a three-dimensional scanner. By placing the measuring device on the central line point or the control point of the tunnel, the cross-sectional view of the tunnel (namely, the three-dimensional coordinate information of the tunnel) is obtained after measurement and calculation, and the three-dimensional coordinate information of the inner surface of the primary support, namely, the three-dimensional coordinate information of the sprayed concrete surface 12 can be obtained by combining the tunnel design parameters. Wherein the infrared rangefinder 20 may be mounted on the robotic arm 16 of the shotcrete machine 15, the robotic arm 16 may be movable along a motion trajectory 13 and a dig trajectory 17 (wherein the motion trajectory is a curve formed by points equidistant from the shotcrete surface (i.e., a plane formed by the horizontal and vertical directions of the tunnel), the dig trajectory is the direction of the tunnel axis), the movement distance may be set to a fixed value or may be adjusted according to the flatness of the tunnel wall. Wherein the movement locus 13 is positioned on the inner side of the sprayed concrete surface 12, and the movement locus 13 is a preset curve in the same tunnel section; the excavation trajectory 17 is parallel to the tunnel axis (wherein the three-dimensional coordinates of the tunnel axis are determined at the design stage).
As shown in fig. 4-6, the infrared rangefinder 20 may emit a dispersed beam cluster 21, the beam cluster 21 being composed of a plurality of beams at the same cross-section. The adjacent beams have a spacing angle (i.e., gamma in fig. 4), and the outermost beam has an included angle (i.e., alpha in fig. 4) with the horizontal direction, and the included angle and the spacing angle are set based on the measurement accuracy and the measurement width of the infrared rangefinder 20 to cover the tunnel excavation step, preferably, since the excavation step and the distance from the infrared rangefinder to the tunnel wall are known, the included angle between the outermost two beams can be calculated, and then gamma and alpha can be obtained. And gamma and alpha can be obtained for the same tunnel according to the maximum step distance, and a plurality of gamma and alpha can be set according to actual conditions and selected as required. The excavation step is an unexcavated wall on one side, and concrete is sprayed on the other side, and if the coverage of the beam exceeds the excavation step, a threshold value can be set, and when the distance from the surface of the sprayed concrete to the surface of the wall of the tunnel is smaller than the threshold value, the beam does not calculate. The beam cluster 21 passes through the shotcrete surface 12 and is directed towards the tunnel wall surface 11; each beam forms a plurality of points in one-to-one correspondence with the sprayed concrete surface 12 and the tunnel wall surface 11, respectively, the plurality of points being located in the same cross section. The infrared rangefinder 20 moves along the motion trajectory 13 for one revolution to form a plurality of circumferential sections, and moves along the excavation trajectory 17 to form a plurality of longitudinal sections.
As shown in fig. 4, the first position information may be determined by three-dimensional coordinate information of the movement trace 13; the second position information may be measured by infrared rangefinder along the path of beam cluster 21 to a plurality of points on tunnel wall surface 12; the third position information is calculated from the three-dimensional coordinate information of a plurality of points within the same cross section on the sprayed concrete surface 12 and the first position information of the infrared rangefinder 20.
As shown in fig. 7, two sides of the quadrangle are line segments obtained by making perpendicular lines to the sprayed concrete surface 12 at the intersections of the light beam a22 and the other light beam b23 with the tunnel hole wall surface 11, the line segments are parallel to each other, the lengths of the line segments are calculated by the distance between each two one-to-one corresponding points and the angle of the light beam, and the distance between the line segments is calculated by the third position information. The volume of the shotcrete between adjacent sections is calculated from the area of each section of the shotcrete 14 and the distance between adjacent sections, which is obtained by the distance moved on the movement track by the infrared sensor, and the volume usage of the shotcrete for the tunnel excavation step is calculated by summing up.
Taking the light beam a22 and the other light beam b23 as an example, the calculation method of the volume usage of sprayed concrete by the data processing module 120 is as follows:
the three-dimensional coordinate information of the tunnel 10 measured by the total station, the three-dimensional scanner, or the like is (X) i Yi, zi) wherein X, Y, Z is the horizontal direction, the vertical direction and the axial direction of the tunnel section, respectively, and the three-dimensional coordinate information (X) of each point on the sprayed concrete surface 12 can be obtained in combination with the tunnel section design drawing si ,Y si ,Z si ) According to the preset vertical distance from each point on the motion track 13 to the sprayed concrete surface 12, the three-dimensional information coordinates (X ri ,Y ri ,Z ri ) The mechanical arm drives the infrared distance meter to move along the motion track, so that three-dimensional information coordinate information (X) of the infrared distance meter can be known hi ,Y hi ,Z hi ) The specific conversion can be performed by a person skilled in the art according to common knowledge, and will not be described here.
For the same section shot by the infrared range finder, defining the distance from each point on the motion track to the sprayed concrete surface as b, wherein b is a preset fixed value (shown in fig. 4); the light beam a22 and the light beam b23 are the ith and the (i+1) th strips from the outermost sideLight beam, i.e. [0, n ]]N is the number of light beams, and the intersection points of the light beams and the sprayed concrete surface are B and D, and the intersection points of the light beams and the tunnel hole wall surface are A and C; the distance between the infrared distance measuring instrument and the point B and the point D of the sprayed concrete surface is a respectively i And a i+1 The method comprises the steps of carrying out a first treatment on the surface of the The distance between the infrared distance meter and the points A and C on the surface of the tunnel wall is C respectively i And c i+1 The distance is obtained by direct measurement; and the included angle between the outermost beam of the infrared range finder and the horizontal direction is alpha, and the included angle between the adjacent beams is gamma, so that the included angles between the beam a22 and the beam b23 and the horizontal direction are alpha+gamma x i and alpha+gamma x (i+1) respectively.
In addition, the beams a22 and B23, the sprayed concrete surface and the tunnel wall surface enclose a quadrilateral ACDB, which may be approximately equal to the quadrilateral ACD 'B' (as shown in fig. 7). Define segment AB length as s i Line segment CD length s i+1 The length of the line segment AB' is s i 'CD' length s i+1 ' the distance between line segment AB ' and CD ' is h i '。
The parameters can be determined by the following equations 1-7:
a i ＝b/sin(α+γ×i)， (1
a i+1 ＝b/sin[α+γ×(i+1)]； (2
s i ＝c i -a i ＝c i -b/sin(α+γ×i)， (3
s i+1 ＝c i+1 -a i+1 ＝c i+1 -b/sin[α+γ×(i+1)]； (4
s i '＝s i ×sin(α+γ×i)＝c i ×sin(α+γ×i)-b/sin(α+γ×i) 2 ， (5
s i+1 '＝s i+1 ×sin[α+γ×(i+1)]＝c i+1 ×sin[α+γ×(i+1)]-b/sin[α+γ×(i+1)] 2 ；(6
h i '＝c i+1 ×cos[α+γ×(i+1)]-c i ×sin(α+γ×i)；(7
the area of the quadrilateral ACD 'B' is S k '＝(s i '+s i+1 ')×h i ' 2, area S of the cross section k ＝Σ[(s i '+s i+1 ')×h i '/2]The infrared rangefinder moves along the motion trajectory from point E (X k ,Y k ,Z k ) Move to point F (X k+1 ,Y k+1 ,Z k+1 ) Shooting to obtain multiple sections with a circular moving distance d k ，k∈[0,m]The motion trail is on the same tunnel section, Z k ＝Z k+1 ThenThe volume of the sprayed concrete in this section is v=Σ (S k ×d k )。
As shown in fig. 8, the invention also relates to a method for measuring the volume and the dosage of sprayed concrete on the tunnel wall by a mining method, which comprises the following steps:
s1) acquiring three-dimensional coordinate information of a tunnel, a sprayed concrete surface and a motion trail;
s2) acquiring first position information of an infrared range finder, wherein the infrared range finder moves along a motion track;
s3) obtaining second position information of a plurality of points on the surface of the tunnel hole wall, wherein the plurality of points are points on the intersection line of the beam clusters and the surface of the tunnel hole wall and are positioned in the same section;
s4) calculating third position information of a plurality of points on the sprayed concrete surface, wherein the plurality of points are points on the intersection line of the beam clusters and the sprayed concrete surface and are positioned in the same section;
s5) obtaining the distance between every two one-to-one corresponding points formed by each beam in each section of the plurality of sections of sprayed concrete according to the second position information and the third position information;
s6) a plurality of quadrangles are drawn according to the distance between every two corresponding points, the area of all quadrangles in each section is calculated, and the area of each section of sprayed concrete is obtained through accumulation;
s7) calculating the volume of the sprayed concrete between the adjacent sections according to the area of each section of the sprayed concrete and the distance between the adjacent sections, and summing the volume of the sprayed concrete for calculating the tunnel excavation step.
In step S1, three-dimensional coordinate information of the tunnel may be measured by a total station, a three-dimensional scanner, and the like; the three-dimensional coordinate information of the sprayed concrete surface is obtained through the three-dimensional coordinate information of the tunnel and the tunnel design parameters; the motion profile is located inside the sprayed concrete surface and in one embodiment, the points on the motion profile are equidistant from the vertical line segment of the sprayed concrete surface.
Wherein in step S2, the first position information may be determined by three-dimensional coordinate information of the motion trajectory; the infrared range finder can emit scattered light beam clusters, each light beam cluster consists of a plurality of light beams positioned on the same section, and each light beam cluster penetrates through the surface of the sprayed concrete and irradiates the surface of the tunnel wall; the infrared range finder moves along the motion track for one circle to form a plurality of sections.
The light beams are provided with interval angles, an included angle is formed between the outermost light beams and the horizontal direction, and the arrangement of the included angle and the interval angles is based on the measurement accuracy and the measurement width of the infrared range finder, and the tunnel excavation step distance can be covered.
The infrared range finder can be arranged on a mechanical arm of the shotcrete machine, the mechanical arm can move along a movement track and an excavation track, and the moving distance can be set to be a fixed value or adjusted according to the flatness of the tunnel hole wall.
In step S3, the second position information may be obtained by measuring distances from the infrared rangefinder to a plurality of points on the surface of the tunnel wall along the beam cluster path.
In step S4, the third position information is calculated according to the three-dimensional coordinate information of a plurality of points in the same section on the sprayed concrete surface and the first position information of the infrared range finder.
Wherein in step S6: the two sides of the quadrangle are line segments obtained by making perpendicular lines from the intersection points of adjacent light beams and the wall surface of the tunnel hole to the sprayed concrete surface, the line segments are parallel to each other, the length of the line segments is obtained by calculating the distance between every two corresponding points and the angle of the light beams, and the distance between the line segments is obtained by calculating third position information.
Wherein in step S7: the distance between adjacent sections is obtained by the distance that the infrared sensor moves on the motion trajectory.
It is to be clearly understood that the above description and illustration is made only by way of example and not as a limitation on the disclosure, application or use of the invention. Although embodiments have been described in the embodiments and illustrated in the accompanying drawings, the invention is not limited to the specific examples illustrated by the drawings and described in the embodiments as the best mode presently contemplated for carrying out the teachings of the invention, and the scope of the invention will include any embodiments falling within the foregoing specification and the appended claims.
Claims (7)
1. The utility model provides a mine method tunnel cave wall spouts concrete volume automatic measurement system, includes tunnel three-dimensional information acquisition module, position information acquisition module and data processing module, its characterized in that:
the tunnel three-dimensional information acquisition module acquires three-dimensional coordinate information of a tunnel, a sprayed concrete surface and a movement track, the position information acquisition module acquires first position information of an infrared range finder and also acquires second position information of a plurality of points on the tunnel wall surface, and the data processing module determines third position information of the plurality of points on the sprayed concrete surface so as to acquire the distance between every two corresponding points formed by each beam in each section in the plurality of sections of sprayed concrete according to the second position information and the third position information; and then a plurality of quadrangles are drawn according to the distance between every two corresponding points, the area of all quadrangles in each section is calculated, so as to obtain the area of each section of sprayed concrete through accumulation, two sides of each quadrangle are line segments which are obtained by making perpendicular lines to the surface of the sprayed concrete from the intersection point of the light beam a and the other light beam b with the surface of the tunnel hole, the line segments are mutually parallel, the length of each line segment is obtained by the distance between every two corresponding points and the angle of the light beam, the distance between the line segments is obtained by calculating through third position information, the volume of sprayed concrete between adjacent sections is calculated according to the area of each section of the sprayed concrete and the distance between the adjacent sections, and the volume consumption of sprayed concrete of the tunnel excavation step is calculated in a summation way;
the three-dimensional coordinate information of the tunnel is obtained through measurement by a total station or a measuring device of a three-dimensional scanner, a tunnel cross-sectional diagram is obtained after measurement and calculation by placing the measuring device on a central line point or a control point of the tunnel, and the three-dimensional coordinate information of the inner surface of the primary support, namely the three-dimensional coordinate information of the sprayed concrete surface, is obtained;
the infrared range finder is arranged on a mechanical arm of the shotcrete machine, the infrared range finder emits scattered light beam clusters, each light beam cluster consists of a plurality of light beams positioned on the same section, an interval angle is formed between every two adjacent light beams, an included angle is formed between the outermost light beam and the horizontal direction, and the light beam clusters penetrate through the surface of the shotcrete and are emitted to the surface of the tunnel wall; each beam respectively forms a plurality of points corresponding to the sprayed concrete surface and the tunnel hole wall surface one by one, the plurality of points are all positioned in the same section, the infrared range finder moves for one circle along the movement track to form a plurality of sections in the circumferential direction, and the infrared range finder moves along the excavation track to form a plurality of sections in the longitudinal direction.
2. The mining tunnel wall spray concrete volume automatic measurement system according to claim 1, wherein: the mechanical arm moves along a movement track and an excavation track, the movement distance can be set to be a fixed value or adjusted according to the flatness of the tunnel wall, the movement track is positioned at the inner side of the sprayed concrete surface, and the movement track is positioned in the same tunnel section; the excavation track is parallel to the tunnel axis.
3. The mining tunnel wall spray concrete volume automatic measurement system according to claim 1, wherein: the first position information is determined through three-dimensional coordinate information of the motion trail; the second position information is obtained by measuring the distance from the infrared range finder to a plurality of points on the surface of the tunnel wall along the beam cluster path; the third position information is calculated according to three-dimensional coordinate information of a plurality of points in the same section on the sprayed concrete surface and the first position information of the infrared range finder.
4. The mining tunnel wall spray concrete volume automatic measurement system according to claim 1, wherein: the three-dimensional coordinate information of the tunnel measured by the total station or the three-dimensional scanner is (X) i ,Y i ,Z i ) Wherein the X, Y, Z direction is the horizontal direction, the vertical direction and the axial direction of the tunnel section, and the three-dimensional coordinate information (X) of each point on the sprayed concrete surface is obtained by combining the tunnel section design diagram si ,Y si ,Z si ) Obtaining three-dimensional information coordinates (X) of each point on the motion trail according to the vertical distance from each point on the motion trail to the sprayed concrete surface ri ,Y ri ,Z ri ) The mechanical arm drives the infrared distance meter to move along the motion trail to determine three-dimensional information coordinate information (X) of the infrared distance meter hi ,Y hi ,Z hi )。
5. The mining tunnel wall spray concrete volume automatic measurement system according to claim 4, wherein: for the same section shot by the infrared range finder, defining the distance from each point on the motion track to the sprayed concrete surface as b, wherein b is a preset fixed value; beam a and another beam b are the ith and (i+1) th beams starting from the outermost side, i e [0, n]N is the number of light beams, and the intersection points of the light beams and the sprayed concrete surface are B and D, and the intersection points of the light beams and the tunnel hole wall surface are A and C; the distance between the infrared distance measuring instrument and the point B and the point D of the sprayed concrete surface is a respectively i And a i+1 The method comprises the steps of carrying out a first treatment on the surface of the The distance between the infrared distance meter and the points A and C on the surface of the tunnel wall is C respectively i And c i+1 The distance is obtained by direct measurement; and the included angle between the outermost beam of the infrared range finder and the horizontal direction is alpha, and the included angle between the adjacent beams is gamma, so that the included angles between the beam a and the beam b and the horizontal direction are alpha+gamma x i and alpha+gamma x (i+1) respectively.
6. The mining tunnel wall spray concrete volume automatic measurement system according to claim 5, wherein: the beam a and the other beam b form a quadrilateral ACDB with the sprayed concrete surface and the tunnel wall surface, and the surfaces are approximateEqual to quadrilateral ACD 'B', defining segment AB length as s i Line segment CD length s i+1 The length of the line segment AB' is s i 'CD' length s i+1 ' the distance between line segment AB ' and CD ' is h i '；
The parameters can be determined by the following equations 1-7:
a i ＝b/sin(α+γ×i)，(1
a i+1 ＝b/sin[α+γ×(i+1)]；(2
s i ＝c i -a i ＝c i -b/sin(α+γ×i)，(3
s i+1 ＝c i+1 -a i+1 ＝c i+1 -b/sin[α+γ×(i+1)]；(4
s i '＝s i ×sin(α+γ×i)＝c i ×sin(α+γ×i)-b/sin(α+γ×i) 2 ，(5
s i+1 '＝s i+1 ×sin[α+γ×(i+1)]＝c i+1 ×sin[α+γ×(i+1)]-b/sin[α+γ×(i+1)] 2 ；
(6
h i '＝c i+1 ×cos[α+γ×(i+1)]-c i ×sin(α+γ×i)；(7
the area of the quadrilateral ACD 'B' is S k '＝(s i '+s i+1 ')×h i ' 2, area S of the cross section k ＝Σ[(s i '+s i+1 ')×h i '/2]The infrared rangefinder moves along the motion trajectory from point E (X k ,Y k ,Z k ) Move to point F (X k+1 ,Y k+1 ,Z k+1 ) Shooting to obtain multiple sections with a circular moving distance d k ，k∈[0,m]The motion trail is on the same tunnel section, Z k ＝Z k+1 ThenThe volume of the sprayed concrete in this section is v=Σ (S k ×d k )。
7. The method for measuring the volume and the dosage of the sprayed concrete on the tunnel wall by a mining method is characterized by comprising the following steps of:
s1) acquiring three-dimensional coordinate information of a tunnel, a sprayed concrete surface and a motion trail;
s2) acquiring first position information of an infrared range finder, wherein the infrared range finder moves along a motion track;
s3) obtaining second position information of a plurality of points on the surface of the tunnel hole wall, wherein the plurality of points are points on the intersection line of the beam clusters and the surface of the tunnel hole wall and are positioned in the same section;
s4) calculating third position information of a plurality of points on the sprayed concrete surface, wherein the plurality of points are points on the intersection line of the beam clusters and the sprayed concrete surface and are positioned in the same section;
s5) obtaining the distance between every two one-to-one corresponding points formed by each beam in each section of the plurality of sections of sprayed concrete according to the second position information and the third position information;
s6) a plurality of quadrangles are drawn according to the distance between every two corresponding points, the area of all quadrangles in each section is calculated, and the area of each section of sprayed concrete is obtained through accumulation;
s7) calculating the volume of the sprayed concrete between the adjacent sections according to the area of each section of the sprayed concrete and the distance between the adjacent sections, and summing the volume of the sprayed concrete for calculating the tunnel excavation step.
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